14 #ifndef OPENHRP_MODEL_NODE_SET_H_INCLUDED
15 #define OPENHRP_MODEL_NODE_SET_H_INCLUDED
18 #include <boost/shared_ptr.hpp>
19 #include <boost/version.hpp>
20 #if (BOOST_VERSION >= 103900)
21 #include <boost/signals2/signal.hpp>
23 #include <boost/signals.hpp>
42 std::vector<Matrix44, Eigen::aligned_allocator<Matrix44> >
transforms;
46 std::vector<std::pair<Matrix44, VrmlNodePtr>,
47 Eigen::aligned_allocator<std::pair<Matrix44, VrmlNodePtr> > >
lightNodes;
61 bool loadModelFile(
const std::string&
filename);
67 int numExtraJointNodes();
76 #if (BOOST_VERSION >= 103900)
77 boost::signals2::signal<
void(
const std::string& message)> sigMessage;
84 Exception(
const std::string& description) : description(description) { }
85 const char*
what()
const {
return description.c_str(); }